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Biped locomotion is a periodic motion governed by a characteristic rhythm. Authors have pointed out the necessity of the regularity of the rhythm for stable walking, and have proposed the control method for the robot based on the locomotion rhythm. In this paper, to realize stable walking even in an environment with uncertainties, the concept of compliance is introduced into the locomotion control scheme. Some simulations and experiments show that the stable walking can be realized in the real environment.
Kawaji et al. (2002) studied this question.